CN114325747B - Method for calculating reflectivity of ground object in footprint by using satellite laser echo data - Google Patents
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Abstract
The invention discloses a method for calculating the reflectivity of a ground object in a footprint by using satellite laser echo data, which comprises the following steps: calibrating an APD gain value in a satellite laser load echo receiving circuit; and calculating the reflectivity of the ground objects in other laser footprints by using the calibrated APD gain value. The method fully exploits the physical characteristics of the satellite laser which is a novel load, obtains the reflectivity information of the ground object in the footprint light spot in a large range, has higher accuracy of a calculation result, and can be used for assisting the application of ground object classification and the like.
Description
Technical Field
The invention relates to the technical field of the reflectivity of ground objects in footprints, in particular to a method for calculating the reflectivity of the ground objects in the footprints by utilizing satellite laser echo data.
Background
The reflectivity of the surface features of different types of the surface features is different, for example, the reflectivity of the surface of a bare land is 10% -25% and the reflectivity of the surface of a desert is 25% -46% as described in the atmospheric science dictionary. The earth surface albedo can be obtained through radiance values provided by remote sensing imaging, the reflectivity is used as a known condition, and subsequent applications such as judgment of typical object types can be carried out according to the range of the reflectivity.
At present, as for a method for calculating the reflectivity of a ground feature, experts at home and abroad propose a plurality of methods, which mainly include the following methods: the first is a traditional measuring method, which uses a spectrometer to perform on-site measurement, and although the method can obtain accurate results, the method is affected by the field working environment, consumes a large amount of manpower and material resources, and is inconvenient; the Second method is to calculate the reflectivity of the ground object by using a radiation Transmission model, such as a 6s model (Second precision of the Satellite Signal in the Solar Spectrum), a lowtran model (Low Resolution Transmission), a model Resolution Transmission, a Flaash model (Fast line-of-sight analysis of spectral macromolecules) and the like, which is an atmospheric correction process and can obtain good precision but needs more and more accurate atmospheric environment parameters; the third method is to use images to calculate the reflectivity, and typical methods are as follows: the method only uses image data, is simple, convenient and quick, but only obtains a relative value of reflectivity and needs subsequent conversion; the fourth method is to calculate the reflectivity of the ground feature by using the known spectral reflectivity of the ground feature, including a hybrid spectroscopy method and an empirical linear method, and the method needs to calculate according to ground synchronous measurement data, and is time-consuming and labor-consuming.
For a long time, in the process of acquiring three-dimensional information of a target ground object, a laser radar always serves as a key technical function and is applied to numerous fields such as forest monitoring, military defense and homeland surveying and mapping. Laser radar data not only contain the spatial information of target ground object, also contain the radiation information of target ground object, and traditional laser radar often focuses on the geometric characteristics to echo data and carry out analysis and application, and this makes the application of laser radar data have certain limitation. In recent years, with the development of hyperspectral/multispectral laser radars and full-waveform laser radars, radiation information in laser radar data is widely mined. The laser radar echo intensity data records the backscattering echo information of the target ground object, and can represent the radiation characteristics of the ground object target. Generally, the echo signal strength of the laser radar has three main factors: 1) the laser radar transmits a laser beam to a ground object, and the laser beam and the ground object interact with each other to generate an echo signal, namely the reflectivity of the detected ground object; 2) the laser radar beam passes through the cloud layer and the atmosphere to reach the ground, and the influence of a medium existing between the laser radar beam and a ground object to be detected on an echo signal is realized, namely the attenuation of the atmosphere on the echo signal; 3) configuration of hardware facilities such as lasers. When the relation between the laser energy intensity and the surface feature reflectivity is studied, the primary problem of using the laser intensity information is to correct the relation. Laser intensity correction refers to removing various influencing factors and converting the original laser intensity value into a value only related to the target reflectivity.
Many researchers have studied between laser energy intensity and surface feature reflectivity at home and abroad. In the domestic aspect, juniper and the like construct a laser radar echo intensity data radiation transmission mechanism equation with definite physical significance from a laser radar radiation transmission mechanism, systematically discuss and analyze radiation characteristics and key factors of the laser radar echo intensity data based on the equation, and provide necessary theoretical basis and technical support for developing laser radar radiation calibration, ground feature classification and various quantitative applications. Tankia et al, separates the reflectivity, the incidence angle and the distance of a target, expresses the laser intensity into a product form of three factor polynomial functions by utilizing the Weierstrass theorem, provides a novel ground three-dimensional laser scanning laser intensity correction model, performs a test by utilizing diffuse reflection targets with different reflectivities, obtains the corrected laser intensity value, and shows that the model can reduce the difference of the echo intensities of similar targets. The high-precision land surface ultra-fine classification method has the advantages that the optical structure design of the high-spectrum imaging laser radar system is provided by Qianliyong and the like, the optical radiation calibration method of the system is researched, the reflection spectrum information of the ground object can be obtained in real time according to the echo signal intensity information output by the detector, and high-precision terrain acquisition and ground surface ultra-fine classification are further achieved. Kaasalainen and the like set diffuse reflection plates with different reflectivities as simulated ground object targets, and utilize an airborne laser radar to perform calibration experiments, and the results show that under the conditions of same light brightness, uniformity and direct projection, the echo intensities of the laser radar have obvious differences. Yan et al review the use of airborne lidar data in urban land cover classification, find and study the use of intensity data, waveform data, and multi-sensor data to promote increasingly greater interest in land cover classification and target identification in urban environments, and have demonstrated that this data can be suitable for accurately extracting and classifying terrain information by performing tests that simply correct the lidar intensity data. Schmidt et al utilize full-waveform lidar data to classify coastal region land and water, and research shows that lidar echo intensity data can be used for dividing the types of surface coverings and the classification of detected ground objects. Xu and the like, in order to overcome the defect that TLS original intensity data can be distorted due to the distance and incident angle effects, and larger deviation can be generated in the estimation of surface roughness parameters, so that the subsequent intensity correction is further influenced, an intensity correction method combining a piecewise fitting and overlapping driving adjustment method is provided, and the results show that the method can effectively improve the accuracy of reflectivity calculation by carrying out comparison test analysis on RIEGL VZ-400i echo intensity data and a spectrometer measured value.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide a method for calculating the reflectivity of a ground object in a footprint by using satellite laser echo data, wherein a laser radar echo model is constructed by using the radiation characteristic of laser radar echo intensity data, firstly, the calibration of an APD gain value in a satellite laser load echo receiving circuit is carried out by using measured data, then, in the calculation of the reflectivity of the ground object, the calculation of the echo energy intensity is only required to be calculated by using laser radar waveform data, the atmospheric air transmittance is obtained by using an acquisition time AOD value and a modtran radiation transmission model, and the reflectivity of a corresponding substrate can be accurately obtained by using the constructed laser radar echo equation. The method does not need actual measurement of ground objects and more atmospheric correction parameters in subsequent calculation, saves time and labor, and has higher accuracy and calculation efficiency.
The purpose of the invention is realized by the following technical scheme:
a method of calculating the reflectivity of terrain within a footprint using satellite laser echo data, comprising:
s1, calibrating an APD gain value in the satellite laser load echo receiving circuit;
and S2, calculating the reflectivity of the ground object in other laser footprints by using the calibrated APD gain value.
One or more embodiments of the invention may have the following advantages over the prior art:
aiming at the novel satellite laser load, a laser radar echo model is utilized, the radiation characteristic of satellite-borne laser radar waveform data and factors influencing the reflectivity of a target ground object are considered in the model, and the model can better calculate the reflectivity of the ground object.
The actual measurement data of the ground object reflectivity and the atmospheric correction process are combined, and the APD gain value of the satellite-borne laser hardware facility is calibrated, so that the calculation result of the ground object reflectivity has higher accuracy.
After APD gain value calibration is carried out, no field actual measurement data is needed, manpower and material resources are reduced, the requirements of a laser radar echo model on atmospheric environment parameters are low, and the algorithm is simple, direct and efficient.
Drawings
FIG. 1 is a flow chart of a method for calculating the reflectivity of a terrain within a footprint using satellite laser echo data.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the following embodiments and accompanying drawings.
A high-resolution seven-gauge (GF-7) satellite is the first sub-meter civil three-dimensional surveying and mapping satellite in China, is launched in 2019, 11, month and 3, and is carried with a laser altimeter for sampling at intervals of 0.5ns and recording waveform data and energy returned from the ground. Although the satellite-borne laser radar is slightly interfered by the weather background, the scattering, interference and the like of the atmosphere can greatly influence the satellite-borne laser radar. For a high-resolution seven-satellite, a laser secondary beam expanding system mainly comprises a primary beam expanding mirror and a secondary beam expanding mirror, the optical efficiency of a channel is equal to the product of the efficiencies of the primary beam expanding mirror and the secondary beam expanding mirror, and the optical efficiency of the channel on a 1064nm wave band is 99.4% through calculation. According to the optical efficiency of the coating during acceptance, the product of the optical efficiency of each optical element is the optical efficiency of the fitted laser receiving channel, and the calculated transmittance of the laser receiving channel at the wavelength of 1064.1nm (corresponding to the atmospheric working environment) is 70.4951729%, and the transmittance of the laser receiving channel at the wavelength of 1064.4nm (corresponding to the vacuum working environment) is 78.1177030%. And the data obtained by calculation are used for eliminating atmospheric interference subsequently, simplifying the remote sensing process and simulating the influence of atmospheric components on the satellite-borne laser radar echo signals. Because the reflectivity finally obtained by using the parameter values of the hardware equipment has certain deviation with the true value, the invention firstly calibrates the APD gain value by using the algorithm principle and then calculates the reflectivity by using the algorithm.
As shown in FIG. 1, the method for calculating reflectivity of ground features in footprint by using satellite laser echo data includes calibrating Avalanche Diode (APD) gain value of satellite laser load by using reference data such as ground measured atmosphere and surface reflectivity, calculating reflectivity of features in any laser footprint range by using APD gain calibration value, laser waveform data and atmospheric data, integrating sampled voltage value in waveform, calculating echo energy intensity of each laser point by using corresponding relationship between echo power received by APD after calibration and output waveform voltage peak value, obtaining Aerosol Optical Depth (AOD) value corresponding to waveform data acquisition time by using geographical position of laser foot point, obtaining large air transmission rate parameter by using modtran (model Resolution) atmospheric radiation transmission model, and finally, calculating the reflectivity of the ground object in the current laser point footprint by adopting a laser radar echo model.
The method specifically comprises the following steps:
1) calibrating an APD gain value in a satellite laser load echo receiving circuit;
2) and calculating the reflectivity of the ground objects in other laser footprints by using the calibrated APD gain value.
The above 1) includes:
and calibrating an APD gain value of a hardware facility, sampling the high-resolution seven-model satellite at intervals of 0.5ns, sampling echoes of each laser point for 800 times, and calculating an echo intensity value of a target ground object of each laser point by using echo waveform data formed by sampling as shown in the following formula (1).
In the formula, V is the echo intensity value of the target ground object at each laser point, f (i) is the sampling value of each laser point, BinSize is the sampling interval, and N is the sampling frequency.
According to engineering data obtained by decoding original satellite-borne laser data, receiving energy corresponding to each laser point is obtained, the energy is mainly determined by a laser hardware system, and the receiving energy of most laser points of the same beam is generally consistent.
And acquiring the AOD value of the area where the laser foot points are located at the same moment by using the GEE of the cloud computing platform, and calculating the corresponding atmospheric transmittance through a modtran radiation transmission model. In the process of model operation, only specific data such as time, longitude and latitude position information, AOD value, orbit height and the like need to be provided.
And actually measuring the reflectivity of the ground to obtain the reflectivity of the ground in the laser footprint. Multiple measurements are typically taken to eliminate gross errors.
And constructing a satellite-borne laser radar echo model. According to the parameters such as the divergence angle of the satellite-borne laser altimeter, the energy of emitted pulses and the like, the internal energy distribution density of the ground light spot is calculated as follows:
in the formula, EtFor laser single pulse energy, etatraIs the system emission efficiency, ηatmAtmospheric permeability; a. thetIs the theoretical area of the laser facula ground,
wherein R is the distance between the satellite platform and the ground light spot; gamma is the laser divergence angle; d is the laser transmitter aperture.
As the satellite platform height of the satellite-borne laser altimeter is about 500km, and the distance value R is far greater than the emission aperture D of the laser, the emission aperture D of the laser can be ignored, and in the formula (D + R gamma)2≈R2γ2。
According to the above formula ground light spot energy density distribution function, and by combining the internal reflectivity of the light spot, the following processes of the laser pulse and the ground response can be deduced:
in the formula, AtarIs the actual area of the laser spot on the ground,
Dtarρ is the target reflectivity for the actual spot diameter.
After the laser and the ground target respond, the laser penetrates through the atmosphere again through ground diffuse reflection to reach the satellite laser receiving telescope, so that the energy equation of the laser emission pulse echo is obtained as shown in the following.
In the formula, ArIs the actual area of the laser spot on the ground,
Dris the aperture of the telescope etasysThe system receiving efficiency;
therefore, the energy equation of the satellite-borne laser echo can be obtained as follows:
calculating the echo energy of the laser spot through the echo intensity value of the object in the laser footprint, the corresponding received energy of the laser spot, the atmospheric transmittance, the reflectivity of the object in the laser footprint and the satellite-borne laser echo energy data, and converting the calculated echo energy of the laser spot into input power Pr。
And obtaining an APD gain value by utilizing the corresponding relation between the echo power received by the APD and the output waveform voltage peak value.
Voltage (V) ═ PrXAPD gain Xgain adjustment Ximpedance matching coefficient (6)
In the above formula, PrFor input power, L channelThe gain is adjusted to 10dB (3.16 times), the gain of the H channel is adjusted to-4 dB- +36dB, and the impedance matching coefficient is 0.5.
Substituting the calibrated APD gain value and the echo voltage value of the waveform data into the formula (6) in the step 6 to calculate the input power of each laser pin point.
And calculating the receiving energy of each laser point according to the beam engineering data obtained by decoding the satellite-borne laser data, and converting the laser pulse width into laser single pulse receiving power.
Obtaining the AOD value of the area where the laser foot points are located at the same moment, and calculating the atmospheric transmittance eta through a modtran radiation transmission modelatm。
Calculating the reflectivity of the ground in the laser footprint by using the constructed laser radar echo model and through a satellite-borne laser echo energy equation, wherein the equation is as follows:
where ρ is the target reflectance, PrAnd PtThe laser single pulse receiving and input power are respectively, R is the distance between the satellite platform and the ground light spot, gamma is the divergence angle of the laser, DrIs the aperture of the telescope, DtarIs the actual spot diameter, ηatmIs the atmospheric permeability etatraIs the system emission efficiency, etasysThe system reception efficiency.
Examples
Known parameter theoretical values of a high-grade seven laser:
bore of laser telescope (D)r)：600mm
Spot diameter size (D)tar)：15m
Track height (R): 505km
Laser divergence angle (γ): less than or equal to 60 mu rad
In the embodiment, the 10083 th orbit laser waveform data of the high-resolution seven-model satellite is selected as test data for calibrating the APD gain value, and the data is mainly distributed in northwest areas of China. Selecting four surface objects of Gobi, grassland, sandy land and lake to obtain measured values of the reflectivity of the surface objects, utilizing an algorithm design step 1) to calculate the APD gain value, analyzing the calculation result, analyzing and eliminating abnormal values, and finally selecting the average value of the result as a calibrated APD gain value. And selecting the actually measured reflectivity data of the sample plot of the four authenticity inspection stations as true values, and carrying out experimental statistics on the calculation accuracy of the reflectivity of the ground object.
(1) The longitude, latitude and altitude of 1 in a certain area are 37.8924 degrees, 114.690 degrees and 41.3615m respectively, and the point feature reflectivity is 0.3763 under the wavelength of 1064 nm. The GF-7 satellite beam 1 and beam 2 were selected to select 14 laser foot spots of the same feature type (wheat vegetation) at and around the spot, and the feature reflectivity calculation results were 0.3858, 0.3983, 0.3877, 0.3980, 0.3809, 0.3957, 0.3822, 0.3829, 0.3785, 0.3878, 0.3807, 0.3833, 0.3805, 0.3811, with an average value of 0.3860, which is 0.0097 from the true value, calculated by the algorithm herein.
(2) The longitude, latitude and altitude of 2 in a certain area are 37.8854 degrees, 114.685 degrees and 42.7300m respectively, and the point feature reflectivity is 0.3436 under the wavelength of 1064 nm. The GF-7 satellite beam 1 and beam 2 were chosen to select 11 laser foot spots of the same terrain type (grass) at and around the spot, and the terrain reflectivities calculated by the algorithm herein were 0.3163, 0.3251, 0.3296, 0.3299, 0.3303, 0.3361, 0.3403, 0.3228, 0.3356, 0.3309, 0.3390, with an average value of 0.3305 and a difference from true value of 0.0131.
(3) The longitude, latitude and altitude of the XX region are 26.7528 degrees, 111.876 degrees and 149.152m respectively in the same 1, and the reflectivity of the ground object at the point is 0.5469 under the wavelength of 1064 nm. The GF-7 satellite beam 1 and beam 2 were selected to select 3 laser foot spots of the same feature type (pond) at and around this spot, and the feature reflectivity calculated by the algorithm herein was 0.5263, 0.5435, 0.5307, with an average value of 0.5335, and a difference from the true value of 0.0134.
(4) In the XX area, the longitude, latitude and altitude are 26.7573 °, 111.846 ° and 108.034m respectively, and the reflectivity of the ground object at the point is 0.2675 at a wavelength of 1064 nm. The GF-7 satellite beam 1 and beam 2 were selected to select 2 laser foot spots of the same terrain type (paddy field) at and around the spot, and the terrain reflectivity calculation results were 0.2816, 0.2762, with an average value of 0.2789, and a true value difference of 0.0114, as calculated by the algorithm herein.
As can be seen from the difference result, the calculation result of the algorithm is accurate and meets the requirement.
Although the embodiments of the present invention have been described above, the above descriptions are only for the convenience of understanding the present invention, and are not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (6)
1. A method for calculating the reflectivity of a terrain within a footprint using satellite laser echo data, the method comprising:
s1, calibrating an APD gain value in the satellite laser load echo receiving circuit;
s2, calculating the reflectivity of the ground object in other laser footprints by using the calibrated APD gain value;
the S1 includes:
calculating the echo intensity value of the ground object in each laser footprint by using echo waveform data sampled by a satellite;
acquiring receiving energy corresponding to the current laser point according to satellite-borne laser load engineering data obtained by decoding original data;
the method comprises the steps that the AOD value of the area where the laser foot points are located at the same moment is obtained through a cloud computing platform, and the corresponding atmospheric transmittance is calculated through an MODTRAN radiation transmission model;
the reflectivity of the ground object in the laser footprint is obtained through ground actual measurement;
constructing a satellite-borne laser radar echo model;
calculating the echo energy of the laser point;
and calibrating the APD gain value by utilizing the corresponding relation between the echo power received by the APD and the output waveform voltage peak value.
2. The method for calculating reflectivity of terrain in the footprint using satellite laser echo data according to claim 1, wherein the calculation formula for the terrain echo intensity value in each laser footprint is:
where f (i) is the sampling value of each laser spot, BinSize is the sampling interval, and N is the sampling frequency.
3. The method for calculating the reflectivity of the ground object in the footprint by using the satellite laser echo data according to claim 1, wherein the step of calculating the internal energy distribution density of the ground light spot according to the divergence angle of the satellite-borne laser altimeter and the parameters of transmitted pulse energy is as follows:
in the formula, gammatFor the internal energy distribution density of the ground light spot, EtIs laser single pulse energy, etatraIs the system emission efficiency, ηatmAtmospheric permeability; a. thetIs the laser spot ground theoretical area,
wherein R is the distance between the satellite platform and the ground light spot; gamma is the laser divergence angle; d is the aperture of the laser transmitter;
as the satellite platform height of the satellite-borne laser altimeter is about 500km, and the distance value R is far greater than the emission aperture D of the laser, the emission aperture D of the laser can be ignored, and in the formula (D + R gamma)2≈R2γ2；
According to the energy density distribution function of the ground light spot and the internal reflectivity of the light spot, the equation after the laser pulse and the ground response is obtained:
in the formula, AtarIs the actual area of the laser spot on the ground,
Dtarthe actual spot diameter is defined, and rho is the target reflectivity;
after the laser and the ground target respond, the laser penetrates through the atmosphere again through ground diffuse reflection to reach a satellite laser receiving telescope, so that the energy equation of the laser emission pulse echo is obtained as follows:
in the formula, ArIs the actual area of the laser spot on the ground,
Dris the aperture of the telescope etasysThe system receiving efficiency;
therefore, the energy equation of the satellite-borne laser echo is as follows:
4. the method of claim 1, wherein the laser spot echo energy is calculated from the laser footprint ground object echo intensity value, the laser spot corresponding received energy, the atmospheric transmittance, the laser footprint ground object reflectivity and the satellite borne laser echo energy data, and the calculated laser spot echo energy is converted into the input power.
5. The method of claim 1, wherein the echo power and the output waveform voltage are calculated by the following equation:
voltage (V) ═ PrXAPD gain Xgain adjustment Ximpedance matching coefficient (6)
In the above formula, PrFor the input power, the gain of the L channel is adjusted to 10dB, the gain of the H channel is adjusted to-4 dB- +36dB, and the impedance matching coefficient is 0.5.
6. The method for calculating reflectivity of terrestrial objects in footprints using satellite laser echo data according to claim 1, wherein the S2 comprises:
calculating the input power of each laser pin point by using the calibrated APD gain value and the waveform data echo voltage value through a formula (6);
calculating the receiving energy of each laser point according to the beam engineering data obtained by decoding the satellite-borne laser data, and converting the laser pulse width into laser single pulse receiving power;
obtaining the AOD value of the area where the laser foot points are located at the same moment, and calculating the atmospheric transmittance eta through an MODTRAN radiation transmission modelatm；
Calculating the reflectivity of the ground in the laser footprint by using the constructed laser radar echo model and through a satellite-borne laser echo energy equation, wherein the equation is as follows:
where ρ is the target reflectance, PrAnd PtThe laser single pulse receiving and input power are respectively, R is the distance between the satellite platform and the ground light spot, gamma is the divergence angle of the laser, DrIs the aperture of the telescope, DtarIs the actual spot diameter, etaatmIs the atmospheric permeability etatraIs the system emission efficiency, ηsysThe system reception efficiency.
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